<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::PlaneClipper3D&lt; PointT &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_plane_clipper3_d.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1_plane_clipper3_d-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::PlaneClipper3D&lt; PointT &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p>Implementation of a plane clipper in 3D  
 <a href="classpcl_1_1_plane_clipper3_d.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="plane__clipper3_d_8h_source.html">plane_clipper3D.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::PlaneClipper3D&lt; PointT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_plane_clipper3_d.png" usemap="#pcl::PlaneClipper3D_3C_20PointT_20_3E_map" alt=""/>
  <map id="pcl::PlaneClipper3D_3C_20PointT_20_3E_map" name="pcl::PlaneClipper3D_3C_20PointT_20_3E_map">
<area href="classpcl_1_1_clipper3_d.html" title="Base class for 3D clipper objects" alt="pcl::Clipper3D&lt; PointT &gt;" shape="rect" coords="0,0,183,24"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a30286c6d6d056a0bdde21230f598757b"><td class="memItemLeft" align="right" valign="top"><a id="a30286c6d6d056a0bdde21230f598757b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_plane_clipper3_d.html">PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a30286c6d6d056a0bdde21230f598757b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8b16fca1ebd8868c1c0a93aaa8ddaee"><td class="memItemLeft" align="right" valign="top"><a id="ad8b16fca1ebd8868c1c0a93aaa8ddaee"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_plane_clipper3_d.html">PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:ad8b16fca1ebd8868c1c0a93aaa8ddaee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_clipper3_d"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_clipper3_d')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a0e6e81447bc47f39c7b6fe0fb940307a inherit pub_types_classpcl_1_1_clipper3_d"><td class="memItemLeft" align="right" valign="top"><a id="a0e6e81447bc47f39c7b6fe0fb940307a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_clipper3_d.html">Clipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a0e6e81447bc47f39c7b6fe0fb940307a inherit pub_types_classpcl_1_1_clipper3_d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3830d83b5548b4eb91c95d1936478bfb inherit pub_types_classpcl_1_1_clipper3_d"><td class="memItemLeft" align="right" valign="top"><a id="a3830d83b5548b4eb91c95d1936478bfb"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_clipper3_d.html">Clipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a3830d83b5548b4eb91c95d1936478bfb inherit pub_types_classpcl_1_1_clipper3_d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:ab9550462630a027be9fb42fc250766ab"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#ab9550462630a027be9fb42fc250766ab">PlaneClipper3D</a> (const Eigen::Vector4f &amp;plane_params)</td></tr>
<tr class="memdesc:ab9550462630a027be9fb42fc250766ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f  <a href="classpcl_1_1_plane_clipper3_d.html#ab9550462630a027be9fb42fc250766ab">更多...</a><br /></td></tr>
<tr class="separator:ab9550462630a027be9fb42fc250766ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a114777afdfae47c56465f4fc5bfe51b9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#a114777afdfae47c56465f4fc5bfe51b9">setPlaneParameters</a> (const Eigen::Vector4f &amp;plane_params)</td></tr>
<tr class="memdesc:a114777afdfae47c56465f4fc5bfe51b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set new plane parameters  <a href="classpcl_1_1_plane_clipper3_d.html#a114777afdfae47c56465f4fc5bfe51b9">更多...</a><br /></td></tr>
<tr class="separator:a114777afdfae47c56465f4fc5bfe51b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12b2a1afde804f3deef4796f7c6177bc"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector4f &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#a12b2a1afde804f3deef4796f7c6177bc">getPlaneParameters</a> () const</td></tr>
<tr class="memdesc:a12b2a1afde804f3deef4796f7c6177bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the current plane parameters  <a href="classpcl_1_1_plane_clipper3_d.html#a12b2a1afde804f3deef4796f7c6177bc">更多...</a><br /></td></tr>
<tr class="separator:a12b2a1afde804f3deef4796f7c6177bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37495773a941df125aa63b3b652c2849"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">clipPoint3D</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point) const</td></tr>
<tr class="memdesc:a37495773a941df125aa63b3b652c2849"><td class="mdescLeft">&#160;</td><td class="mdescRight">interface to clip a single point  <a href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">更多...</a><br /></td></tr>
<tr class="separator:a37495773a941df125aa63b3b652c2849"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7af74c2a1e87b07013fc984ff7127870"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#a7af74c2a1e87b07013fc984ff7127870">clipLineSegment3D</a> (<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;from, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;to) const</td></tr>
<tr class="separator:a7af74c2a1e87b07013fc984ff7127870"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87ae6cf77ea8a9b07bb196cf9bd1c341"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">clipPlanarPolygon3D</a> (std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;polygon) const</td></tr>
<tr class="separator:a87ae6cf77ea8a9b07bb196cf9bd1c341"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55c6f91964250ec0ac58f912c50ea1cf"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#a55c6f91964250ec0ac58f912c50ea1cf">clipPlanarPolygon3D</a> (const std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;polygon, std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;clipped_polygon) const</td></tr>
<tr class="separator:a55c6f91964250ec0ac58f912c50ea1cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaac8ed63813f1c33ab272745dcc69bfa"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#aaac8ed63813f1c33ab272745dcc69bfa">clipPointCloud3D</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud_in, std::vector&lt; int &gt; &amp;clipped, const std::vector&lt; int &gt; &amp;indices=std::vector&lt; int &gt;()) const</td></tr>
<tr class="memdesc:aaac8ed63813f1c33ab272745dcc69bfa"><td class="mdescLeft">&#160;</td><td class="mdescRight">interface to clip a point cloud  <a href="classpcl_1_1_plane_clipper3_d.html#aaac8ed63813f1c33ab272745dcc69bfa">更多...</a><br /></td></tr>
<tr class="separator:aaac8ed63813f1c33ab272745dcc69bfa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77b4dcb8aeca3447eb5e745b5f9d7565"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classpcl_1_1_clipper3_d.html">Clipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_plane_clipper3_d.html#a77b4dcb8aeca3447eb5e745b5f9d7565">clone</a> () const</td></tr>
<tr class="memdesc:a77b4dcb8aeca3447eb5e745b5f9d7565"><td class="mdescLeft">&#160;</td><td class="mdescRight">polymorphic method to clone the underlying clipper with its parameters.  <a href="classpcl_1_1_plane_clipper3_d.html#a77b4dcb8aeca3447eb5e745b5f9d7565">更多...</a><br /></td></tr>
<tr class="separator:a77b4dcb8aeca3447eb5e745b5f9d7565"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_clipper3_d"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_clipper3_d')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a8edfadcf508fbd3087975504a487a216 inherit pub_methods_classpcl_1_1_clipper3_d"><td class="memItemLeft" align="right" valign="top"><a id="a8edfadcf508fbd3087975504a487a216"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_clipper3_d.html#a8edfadcf508fbd3087975504a487a216">~Clipper3D</a> ()  throw ()</td></tr>
<tr class="memdesc:a8edfadcf508fbd3087975504a487a216 inherit pub_methods_classpcl_1_1_clipper3_d"><td class="mdescLeft">&#160;</td><td class="mdescRight">virtual destructor. Never throws an exception. <br /></td></tr>
<tr class="separator:a8edfadcf508fbd3087975504a487a216 inherit pub_methods_classpcl_1_1_clipper3_d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:af3600bd0ce4c63b22679d3f8a2277afb"><td class="memItemLeft" align="right" valign="top"><a id="af3600bd0ce4c63b22679d3f8a2277afb"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>getDistance</b> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point) const</td></tr>
<tr class="separator:af3600bd0ce4c63b22679d3f8a2277afb"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:ab31d9e7c41a5268f6cff2c5217a3b1e0"><td class="memItemLeft" align="right" valign="top"><a id="ab31d9e7c41a5268f6cff2c5217a3b1e0"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><b>plane_params_</b></td></tr>
<tr class="separator:ab31d9e7c41a5268f6cff2c5217a3b1e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::PlaneClipper3D&lt; PointT &gt;</h3>

<p>Implementation of a plane clipper in 3D </p>
<dl class="section author"><dt>作者</dt><dd>Suat Gedikli <a href="#" onclick="location.href='mai'+'lto:'+'ged'+'ik'+'li@'+'wi'+'llo'+'wg'+'ara'+'ge'+'.co'+'m'; return false;">gedik<span style="display: none;">.nosp@m.</span>li@w<span style="display: none;">.nosp@m.</span>illow<span style="display: none;">.nosp@m.</span>gara<span style="display: none;">.nosp@m.</span>ge.co<span style="display: none;">.nosp@m.</span>m</a> </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="ab9550462630a027be9fb42fc250766ab"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab9550462630a027be9fb42fc250766ab">&#9670;&nbsp;</a></span>PlaneClipper3D()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_plane_clipper3_d.html">PlaneClipper3D</a> </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>plane_params</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f </p>
<dl class="section author"><dt>作者</dt><dd>Suat Gedikli <a href="#" onclick="location.href='mai'+'lto:'+'ged'+'ik'+'li@'+'wi'+'llo'+'wg'+'ara'+'ge'+'.co'+'m'; return false;">gedik<span style="display: none;">.nosp@m.</span>li@w<span style="display: none;">.nosp@m.</span>illow<span style="display: none;">.nosp@m.</span>gara<span style="display: none;">.nosp@m.</span>ge.co<span style="display: none;">.nosp@m.</span>m</a> </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">plane_params</td><td>plane parameters, need not necessarily be normalized </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;: plane_params_ (plane_params)</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a7af74c2a1e87b07013fc984ff7127870"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7af74c2a1e87b07013fc984ff7127870">&#9670;&nbsp;</a></span>clipLineSegment3D()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::clipLineSegment3D </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point2</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section attention"><dt>注意</dt><dd>untested code </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1_clipper3_d.html#a1e5ad0839ade09009443f2302bd288dc">pcl::Clipper3D&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;{</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordtype">float</span> dist1 = getDistance (point1);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">float</span> dist2 = getDistance (point2);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">if</span> (dist1 * dist2 &gt; 0) <span class="comment">// both on same side of the plane -&gt; nothing to clip</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span> (dist1 &gt; 0); <span class="comment">// true if both are on positive side, thus visible</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordtype">float</span> lambda = dist2 / (dist2 - dist1);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">// get the plane intersecion</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> intersection;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  intersection.x = (point1.x - point2.x) * lambda + point2.x;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  intersection.y = (point1.y - point2.y) * lambda + point2.y;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  intersection.z = (point1.z - point2.z) * lambda + point2.z;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">// point1 is visible, point2 not =&gt; point2 needs to be replaced by intersection</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  if (dist1 &gt;= 0)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    point2 = intersection;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    point1 = intersection;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a55c6f91964250ec0ac58f912c50ea1cf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a55c6f91964250ec0ac58f912c50ea1cf">&#9670;&nbsp;</a></span>clipPlanarPolygon3D() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::clipPlanarPolygon3D </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>polygon</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>clipped_polygon</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section attention"><dt>注意</dt><dd>untested code </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1_clipper3_d.html#ae1372c023005888d181e5f3c42bbcc35">pcl::Clipper3D&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;{</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  clipped_polygon.clear ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  clipped_polygon.reserve (polygon.size ());</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">// test for degenerated polygons</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> (polygon.size () &lt; 3)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">if</span> (polygon.size () == 1)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="comment">// point outside clipping area ?</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">clipPoint3D</a> (polygon [0]))</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        clipped_polygon.push_back (polygon [0]);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (polygon.size () == 2)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      clipped_polygon.push_back (polygon [0]);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      clipped_polygon.push_back (polygon [1]);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a7af74c2a1e87b07013fc984ff7127870">clipLineSegment3D</a> (clipped_polygon [0], clipped_polygon [1]))</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        clipped_polygon.clear ();</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordtype">float</span> previous_distance = getDistance (polygon [0]);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">if</span> (previous_distance &gt; 0)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    clipped_polygon.push_back (polygon [0]);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keyword">typename</span> std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt;::const_iterator prev_it = polygon.begin ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;::const_iterator pIt = prev_it + 1; pIt != polygon.end (); prev_it = pIt++)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// if we intersect plane</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistance (*pIt);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">if</span> (distance * previous_distance &lt; 0)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordtype">float</span> lambda = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> / (<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> - previous_distance);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> intersection;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      intersection.x = (prev_it-&gt;x - pIt-&gt;x) * lambda + pIt-&gt;x;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      intersection.y = (prev_it-&gt;y - pIt-&gt;y) * lambda + pIt-&gt;y;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      intersection.z = (prev_it-&gt;z - pIt-&gt;z) * lambda + pIt-&gt;z;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      clipped_polygon.push_back (intersection);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">if</span> (distance &gt; 0)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      clipped_polygon.push_back (*pIt);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    previous_distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a37495773a941df125aa63b3b652c2849"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">pcl::PlaneClipper3D::clipPoint3D</a></div><div class="ttdeci">virtual bool clipPoint3D(const PointT &amp;point) const</div><div class="ttdoc">interface to clip a single point</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a7af74c2a1e87b07013fc984ff7127870"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a7af74c2a1e87b07013fc984ff7127870">pcl::PlaneClipper3D::clipLineSegment3D</a></div><div class="ttdeci">virtual bool clipLineSegment3D(PointT &amp;from, PointT &amp;to) const</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:85</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a87ae6cf77ea8a9b07bb196cf9bd1c341"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a87ae6cf77ea8a9b07bb196cf9bd1c341">&#9670;&nbsp;</a></span>clipPlanarPolygon3D() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::clipPlanarPolygon3D </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>polygon</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section attention"><dt>注意</dt><dd>untested code </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1_clipper3_d.html#a5b82162a5eac0dac20c8f4fc3da832c3">pcl::Clipper3D&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;{</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt; clipped;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <a class="code" href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">clipPlanarPolygon3D</a> (polygon, clipped);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  polygon = clipped;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_plane_clipper3_d_html_a87ae6cf77ea8a9b07bb196cf9bd1c341"><div class="ttname"><a href="classpcl_1_1_plane_clipper3_d.html#a87ae6cf77ea8a9b07bb196cf9bd1c341">pcl::PlaneClipper3D::clipPlanarPolygon3D</a></div><div class="ttdeci">virtual void clipPlanarPolygon3D(std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; &amp;polygon) const</div><div class="ttdef"><b>Definition:</b> plane_clipper3D.hpp:171</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a37495773a941df125aa63b3b652c2849"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a37495773a941df125aa63b3b652c2849">&#9670;&nbsp;</a></span>clipPoint3D()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::clipPoint3D </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>interface to clip a single point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>the point to check against </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true, it point still exists, false if its clipped </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1_clipper3_d.html#a7624bf0adc37acaaf5d5717a30069107">pcl::Clipper3D&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">return</span> ((plane_params_[0] * point.x + plane_params_[1] * point.y + plane_params_[2] * point.z ) &gt;= -plane_params_[3]);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="aaac8ed63813f1c33ab272745dcc69bfa"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaac8ed63813f1c33ab272745dcc69bfa">&#9670;&nbsp;</a></span>clipPointCloud3D()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::clipPointCloud3D </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_in</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>clipped</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em> = <code>std::vector&lt;&#160;int&#160;&gt;()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>interface to clip a point cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_in</td><td>input point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">clipped</td><td>indices of points that remain after clipping the input cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>the indices of points in the point cloud to be clipped. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>list of indices of remaining points after clipping. </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1_clipper3_d.html#ae0e4194e161e3212b5adc4322209ba3b">pcl::Clipper3D&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;{</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    clipped.reserve (cloud_in.size ());</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="comment">#if 0</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment">    Eigen::MatrixXf points = cloud_in.getMatrixXfMap (4, sizeof (PointT) / sizeof (float), offsetof(PointT,x) / sizeof (float));</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment">    Eigen::VectorXf distances = plane_params_.transpose () * points;</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment">    for (register unsigned rIdx = 0; rIdx &lt; cloud_in.size (); ++ rIdx)</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">      if (distances (rIdx, 0) &gt;= -plane_params_[3])</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">        clipped.push_back (rIdx);</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">#else</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">    Eigen::Matrix4Xf points (4, cloud_in.size ());</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="comment">    for (register unsigned rIdx = 0; rIdx &lt; cloud_in.size (); ++ rIdx)</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="comment">      points (0, rIdx) = cloud_in[rIdx].x;</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="comment">      points (1, rIdx) = cloud_in[rIdx].y;</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment">      points (2, rIdx) = cloud_in[rIdx].z;</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">      points (3, rIdx) = 1;</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">    Eigen::VectorXf distances = plane_params_.transpose () * points;</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">    for (register unsigned rIdx = 0; rIdx &lt; cloud_in.size (); ++ rIdx)</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">      if (distances (rIdx, 0) &gt;= 0)</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="comment">        clipped.push_back (rIdx);</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="comment">#endif</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="comment">    //cout &lt;&lt; &quot;points   : &quot; &lt;&lt; points.rows () &lt;&lt; &quot; x &quot; &lt;&lt; points.cols () &lt;&lt; &quot; * &quot; &lt;&lt; plane_params_.transpose ().rows () &lt;&lt; &quot; x &quot; &lt;&lt; plane_params_.transpose ().cols () &lt;&lt; endl;</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment">    //cout &lt;&lt; &quot;distances: &quot; &lt;&lt; distances.rows () &lt;&lt; &quot; x &quot; &lt;&lt; distances.cols () &lt;&lt; endl;</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment">    /*/</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">register</span> <span class="keywordtype">unsigned</span> pIdx = 0; pIdx &lt; cloud_in.size (); ++pIdx)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">clipPoint3D</a> (cloud_in[pIdx]))</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        clipped.push_back (pIdx);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">//*/</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_plane_clipper3_d.html#a37495773a941df125aa63b3b652c2849">clipPoint3D</a> (cloud_in[*iIt]))</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        clipped.push_back (*iIt);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a77b4dcb8aeca3447eb5e745b5f9d7565"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a77b4dcb8aeca3447eb5e745b5f9d7565">&#9670;&nbsp;</a></span>clone()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; * <a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::clone </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>polymorphic method to clone the underlying clipper with its parameters. </p>
<dl class="section return"><dt>返回</dt><dd>the new clipper object from the specific subclass with all its parameters. </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1_clipper3_d.html#a8326abaae42f64048b367bb8c54e2e07">pcl::Clipper3D&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> PlaneClipper3D&lt;PointT&gt; (plane_params_);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a12b2a1afde804f3deef4796f7c6177bc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a12b2a1afde804f3deef4796f7c6177bc">&#9670;&nbsp;</a></span>getPlaneParameters()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">const Eigen::Vector4f &amp; <a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getPlaneParameters</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>return the current plane parameters </p>
<dl class="section return"><dt>返回</dt><dd>the current plane parameters </dd></dl>
<div class="fragment"><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">return</span> plane_params_;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a114777afdfae47c56465f4fc5bfe51b9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a114777afdfae47c56465f4fc5bfe51b9">&#9670;&nbsp;</a></span>setPlaneParameters()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_plane_clipper3_d.html">pcl::PlaneClipper3D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setPlaneParameters </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>plane_params</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set new plane parameters </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">plane_params</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  plane_params_ = plane_params;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>filters/include/pcl/filters/<a class="el" href="plane__clipper3_d_8h_source.html">plane_clipper3D.h</a></li>
<li>filters/include/pcl/filters/impl/<a class="el" href="plane__clipper3_d_8hpp_source.html">plane_clipper3D.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_plane_clipper3_d.html">PlaneClipper3D</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
